From e056bf8081a942335a2e097d36a2fb35a4c34eba Mon Sep 17 00:00:00 2001
From: Erik van der Zalm <erik@vdzalm.eu>
Date: Sun, 4 Mar 2012 16:34:58 +0100
Subject: [PATCH] Added E-Jerk
---
Marlin/Configuration.h | 3 ++-
Marlin/EEPROMwrite.h | 6 +++++-
Marlin/Marlin.pde | 3 ++-
Marlin/Marlin.suo | Bin 12288 -> 0 bytes
Marlin/planner.cpp | 21 ++++++++++++++-------
Marlin/planner.h | 1 +
6 files changed, 24 insertions(+), 10 deletions(-)
delete mode 100644 Marlin/Marlin.suo
diff --git a/Marlin/Configuration.h b/Marlin/Configuration.h
index 74c03eb04c8..379aa1953b5 100644
--- a/Marlin/Configuration.h
+++ b/Marlin/Configuration.h
@@ -171,6 +171,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
//
#define DEFAULT_XYJERK 20.0 // (mm/sec)
#define DEFAULT_ZJERK 0.4 // (mm/sec)
+#define DEFAULT_EJERK 5.0 // (mm/sec)
//===========================================================================
//=============================Additional Features===========================
@@ -191,7 +192,7 @@ const bool Z_ENDSTOPS_INVERTING = true; // set to true to invert the logic of th
//#define ULTRA_LCD //general lcd support, also 16x2
//#define SDSUPPORT // Enable SD Card Support in Hardware Console
-//#define ULTIPANEL
+#define ULTIPANEL
#ifdef ULTIPANEL
#define NEWPANEL //enable this if you have a click-encoder panel
#define SDSUPPORT
diff --git a/Marlin/EEPROMwrite.h b/Marlin/EEPROMwrite.h
index bb25ae89600..d639e563993 100644
--- a/Marlin/EEPROMwrite.h
+++ b/Marlin/EEPROMwrite.h
@@ -38,7 +38,7 @@ template <class T> int EEPROM_readAnything(int &ee, T& value)
// the default values are used whenever there is a change to the data, to prevent
// wrong data being written to the variables.
// ALSO: always make sure the variables in the Store and retrieve sections are in the same order.
-#define EEPROM_VERSION "V04"
+#define EEPROM_VERSION "V05"
inline void EEPROM_StoreSettings()
{
@@ -56,6 +56,7 @@ inline void EEPROM_StoreSettings()
EEPROM_writeAnything(i,minsegmenttime);
EEPROM_writeAnything(i,max_xy_jerk);
EEPROM_writeAnything(i,max_z_jerk);
+ EEPROM_writeAnything(i,max_e_jerk);
#ifdef PIDTEMP
EEPROM_writeAnything(i,Kp);
EEPROM_writeAnything(i,Ki);
@@ -116,6 +117,7 @@ inline void EEPROM_printSettings()
SERIAL_ECHOPAIR(" B" ,minsegmenttime );
SERIAL_ECHOPAIR(" X" ,max_xy_jerk );
SERIAL_ECHOPAIR(" Z" ,max_z_jerk);
+ SERIAL_ECHOPAIR(" E" ,max_e_jerk);
SERIAL_ECHOLN("");
#ifdef PIDTEMP
SERIAL_ECHO_START;
@@ -150,6 +152,7 @@ inline void EEPROM_RetrieveSettings(bool def=false)
EEPROM_readAnything(i,minsegmenttime);
EEPROM_readAnything(i,max_xy_jerk);
EEPROM_readAnything(i,max_z_jerk);
+ EEPROM_readAnything(i,max_e_jerk);
#ifndef PIDTEMP
float Kp,Ki,Kd;
#endif
@@ -179,6 +182,7 @@ inline void EEPROM_RetrieveSettings(bool def=false)
mintravelfeedrate=DEFAULT_MINTRAVELFEEDRATE;
max_xy_jerk=DEFAULT_XYJERK;
max_z_jerk=DEFAULT_ZJERK;
+ max_e_jerk=DEFAULT_EJERK;
SERIAL_ECHO_START;
SERIAL_ECHOLN("Using Default settings:");
}
diff --git a/Marlin/Marlin.pde b/Marlin/Marlin.pde
index de02c88024b..e82afabd48b 100644
--- a/Marlin/Marlin.pde
+++ b/Marlin/Marlin.pde
@@ -97,7 +97,7 @@
// M202 - Set max acceleration in units/s^2 for travel moves (M202 X1000 Y1000) Unused in Marlin!!
// M203 - Set maximum feedrate that your machine can sustain (M203 X200 Y200 Z300 E10000) in mm/sec
// M204 - Set default acceleration: S normal moves T filament only moves (M204 S3000 T7000) im mm/sec^2 also sets minimum segment time in ms (B20000) to prevent buffer underruns and M20 minimum feedrate
-// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk
+// M205 - advanced settings: minimum travel speed S=while printing T=travel only, B=minimum segment time X= maximum xy jerk, Z=maximum Z jerk, E=maximum E jerk
// M206 - set additional homeing offset
// M220 S<factor in percent>- set speed factor override percentage
// M221 S<factor in percent>- set extrude factor override percentage
@@ -1116,6 +1116,7 @@ void process_commands()
if(code_seen('B')) minsegmenttime = code_value() ;
if(code_seen('X')) max_xy_jerk = code_value() ;
if(code_seen('Z')) max_z_jerk = code_value() ;
+ if(code_seen('E')) max_e_jerk = code_value() ;
}
break;
case 206: // M206 additional homeing offset
diff --git a/Marlin/Marlin.suo b/Marlin/Marlin.suo
deleted file mode 100644
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GIT binary patch
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diff --git a/Marlin/planner.cpp b/Marlin/planner.cpp
index 5972dafea57..84c0daeff73 100644
--- a/Marlin/planner.cpp
+++ b/Marlin/planner.cpp
@@ -74,6 +74,7 @@ float acceleration; // Normal acceleration mm/s^2 THIS IS THE DEFAULT A
float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
float max_z_jerk;
+float max_e_jerk;
float mintravelfeedrate;
unsigned long axis_steps_per_sqr_second[NUM_AXIS];
@@ -531,6 +532,13 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
if(block->steps_e != 0) { enable_e0();enable_e1();enable_e2(); }
+ if (block->steps_e == 0) {
+ if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
+ }
+ else {
+ if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
+ }
+
// slow down when de buffer starts to empty, rather than wait at the corner for a buffer refill
int moves_queued=(block_buffer_head-block_buffer_tail + BLOCK_BUFFER_SIZE) & (BLOCK_BUFFER_SIZE - 1);
#ifdef SLOWDOWN
@@ -555,12 +563,6 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
block->nominal_speed = block->millimeters * inverse_second; // (mm/sec) Always > 0
block->nominal_rate = ceil(block->step_event_count * inverse_second); // (step/sec) Always > 0
- if (block->steps_e == 0) {
- if(feed_rate<mintravelfeedrate) feed_rate=mintravelfeedrate;
- }
- else {
- if(feed_rate<minimumfeedrate) feed_rate=minimumfeedrate;
- }
/*
// segment time im micro seconds
@@ -705,7 +707,9 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
if(abs(current_speed[Z_AXIS]) > max_z_jerk/2)
vmax_junction = max_z_jerk/2;
vmax_junction = min(vmax_junction, block->nominal_speed);
-
+ if(abs(current_speed[E_AXIS]) > max_e_jerk/2)
+ vmax_junction = min(vmax_junction, max_z_jerk/2);
+
if ((moves_queued > 1) && (previous_nominal_speed > 0.0)) {
float jerk = sqrt(pow((current_speed[X_AXIS]-previous_speed[X_AXIS]), 2)+pow((current_speed[Y_AXIS]-previous_speed[Y_AXIS]), 2));
if((previous_speed[X_AXIS] != 0.0) || (previous_speed[Y_AXIS] != 0.0)) {
@@ -717,6 +721,9 @@ void plan_buffer_line(const float &x, const float &y, const float &z, const floa
if(abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]) > max_z_jerk) {
vmax_junction *= (max_z_jerk/abs(current_speed[Z_AXIS] - previous_speed[Z_AXIS]));
}
+ if(abs(current_speed[E_AXIS] - previous_speed[E_AXIS]) > max_e_jerk) {
+ vmax_junction *= (max_e_jerk/abs(current_speed[E_AXIS] - previous_speed[E_AXIS]));
+ }
}
block->max_entry_speed = vmax_junction;
diff --git a/Marlin/planner.h b/Marlin/planner.h
index 8fa4d4ec340..873441bb053 100644
--- a/Marlin/planner.h
+++ b/Marlin/planner.h
@@ -88,6 +88,7 @@ extern float acceleration; // Normal acceleration mm/s^2 THIS IS THE DE
extern float retract_acceleration; // mm/s^2 filament pull-pack and push-forward while standing still in the other axis M204 TXXXX
extern float max_xy_jerk; //speed than can be stopped at once, if i understand correctly.
extern float max_z_jerk;
+extern float max_e_jerk;
extern float mintravelfeedrate;
extern unsigned long axis_steps_per_sqr_second[NUM_AXIS];